Work on documentation

Author: simon-eisenmann-driveblocks

planning/mapless_architecture/autoware_hmi/include/autoware/hmi/hmi_node.hpp

@@ -27,10 +27,6 @@ class HMINode : public rclcpp::Node
   HMINode();
 
 private:
-  // ###########################################################################
-  // #  PRIVATE PROCESSING METHODS
-  // ###########################################################################
-
   /**
    * @brief Callback function for parameter changes.
    * This callback function is triggered whenever a ROS 2 parameter is changed.
@@ -46,9 +42,6 @@ class HMINode : public rclcpp::Node
    */
   void PublishMission_(std::string mission);
 
-  // ###########################################################################
-  // #  PRIVATE VARIABLES
-  // ###########################################################################
   // Declare ROS2 publisher and subscriber
 
   rclcpp::Publisher<autoware_planning_msgs::msg::Mission>::SharedPtr mission_publisher_;

planning/mapless_architecture/autoware_hmi/src/hmi_node.cpp

@@ -11,14 +11,6 @@ namespace autoware::mapless_architecture
 {
 using std::placeholders::_1;
 
-/**
-
-* @brief Constructor for the HMINode class.
-
-* Initializes the publisher and subscriber with appropriate topics and QoS
-settings.
-
-*/
 HMINode::HMINode() : Node("hmi_node")
 {
   // Set quality of service to best effort (if transmission fails, do not try to

planning/mapless_architecture/autoware_local_map_provider/include/autoware/local_map_provider/local_map_provider_node.hpp

@@ -26,20 +26,13 @@ class LocalMapProviderNode : public rclcpp::Node
   LocalMapProviderNode();
 
 private:
-  // ###########################################################################
-  // #  PRIVATE PROCESSING METHODS
-  // ###########################################################################
-
   /**
    * @brief The callback for the RoadSegments messages.
    *
    * @param msg The autoware_planning_msgs::msg::RoadSegments message.
    */
   void CallbackRoadSegmentsMessages_(const autoware_planning_msgs::msg::RoadSegments & msg);
 
-  // ###########################################################################
-  // #  PRIVATE VARIABLES
-  // ###########################################################################
   // Declare ROS2 publisher and subscriber
 
   rclcpp::Publisher<autoware_planning_msgs::msg::LocalMap>::SharedPtr map_publisher_;

planning/mapless_architecture/autoware_local_mission_planner/include/autoware/local_mission_planner/mission_planner_node.hpp

@@ -30,14 +30,15 @@
 namespace autoware::mapless_architecture
 {
 
-// Create Direction data type
+// Direction data type
 typedef int Direction;
 const Direction stay = 0;
 const Direction left = 1;
 const Direction right = 2;
 const Direction left_most = 3;
 const Direction right_most = 4;
 
+// Define Lanes
 struct Lanes
 {
   std::vector<int> ego;
@@ -204,10 +205,6 @@ class MissionPlannerNode : public rclcpp::Node
     std::vector<LaneletConnection> & out_lanelet_connections);
 
 private:
-  // ###########################################################################
-  // #  PRIVATE PROCESSING METHODS
-  // ###########################################################################
-
   /**
    * @brief Function for the visualization of lanes.
    *
@@ -283,9 +280,6 @@ class MissionPlannerNode : public rclcpp::Node
    */
   void CalculatePredecessors(std::vector<LaneletConnection> & lanelet_connections);
 
-  // ###########################################################################
-  // #  PRIVATE VARIABLES
-  // ###########################################################################
   //  Declare ROS2 publisher and subscriber
   rclcpp::Subscription<autoware_planning_msgs::msg::LocalMap>::SharedPtr mapSubscriber_;
 
@@ -309,11 +303,12 @@ class MissionPlannerNode : public rclcpp::Node
   // ROS buffer interface (for TF transforms)
   std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
   std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
-  // store previous odometry message
+
+  // Store previous odometry message
   nav_msgs::msg::Odometry last_odom_msg_;
-  Pose2D pose_prev_;
-  // Pose2D target_pose_ = {0.0, 0.0};
 
+  // Initialize some variables
+  Pose2D pose_prev_;
   bool pose_prev_init_ = false;
   bool b_global_odometry_deprecation_warning_ = false;
   bool received_motion_update_once_ = false;
@@ -329,7 +324,7 @@ class MissionPlannerNode : public rclcpp::Node
   std::vector<int> lane_right_;
   std::vector<lanelet::Lanelet> current_lanelets_;
 
-  // ros parameters
+  // ROS parameters
   float distance_to_centerline_threshold_;
   float projection_distance_on_goallane_;
   int retrigger_attempts_max_;

planning/mapless_architecture/autoware_local_mission_planner/test/src/test_mission_planner_core.cpp

@@ -127,6 +127,7 @@ int TestCalculateDistanceBetweenPointAndLineString()
 {
   // Create an example Linestring
   lanelet::LineString2d linestring;
+
   lanelet::Point2d p1(0, 1.0,
                       0.0);  // First argument is ID (set it to 0 for now)
   linestring.push_back(p1);
@@ -241,7 +242,7 @@ db_msgs::msg::LaneletsStamped GetTestRoadModelForRecenterTests()
   std::vector<db_msgs::msg::Lanelet> lanelet_vec(n_lanelets);
   message.lanelets = lanelet_vec;
 
-  // global position
+  // Global position
   geometry_msgs::msg::PoseStamped msg_global_pose;
   msg_global_pose.header.frame_id = "base_link";
 
@@ -267,7 +268,7 @@ db_msgs::msg::LaneletsStamped GetTestRoadModelForRecenterTests()
 
   tf2::Quaternion quaternion;
 
-  // vehicle position in global cosy
+  // Vehicle position in global cosy
   message.pose.position.x = 0.0;
   message.pose.position.y = 0.0;
   quaternion.setRPY(0, 0, 0);
@@ -276,7 +277,7 @@ db_msgs::msg::LaneletsStamped GetTestRoadModelForRecenterTests()
   message.pose.orientation.z = quaternion.getZ();
   message.pose.orientation.w = quaternion.getW();
 
-  // street layout in current local cosy = global cosy since vehicle position is
+  // Street layout in current local cosy = global cosy since vehicle position is
   // at the origin in the global cosy
   message.lanelets[0].linestrings[0].points[0].pose.position.x = 0.0;
   message.lanelets[0].linestrings[0].points[0].pose.position.y = -0.5;
@@ -349,7 +350,7 @@ int TestRecenterGoalpoint()
   goal_point.y() = 0.25;
   goal_point_recentered = mission_planner.RecenterGoalPoint(goal_point, converted_lanelets);
 
-  // expect re-centered point to lie on y coordinate 0
+  // Expect re-centered point to lie on y coordinate 0
   EXPECT_NEAR(goal_point_recentered.x(), goal_point.x(), 1e-5);
   EXPECT_NEAR(goal_point_recentered.y(), 0.0, 1e-5);
 
@@ -359,7 +360,7 @@ int TestRecenterGoalpoint()
   goal_point.y() = -0.2;
   goal_point_recentered = mission_planner.RecenterGoalPoint(goal_point, converted_lanelets);
 
-  // expect re-centered point to lie on y coordinate 0 but with x coord equal to
+  // Expect re-centered point to lie on y coordinate 0 but with x coord equal to
   // goal_point (removes lateral error/noise)
   EXPECT_NEAR(goal_point_recentered.x(), goal_point.x(), 1e-5);
   EXPECT_NEAR(goal_point_recentered.y(), 0.0, 1e-5);
@@ -371,7 +372,7 @@ int TestRecenterGoalpoint()
   goal_point.y() = 1.75;
   goal_point_recentered = mission_planner.RecenterGoalPoint(goal_point, converted_lanelets);
 
-  // expect re-centered point to lie on y coordinate 0 but with x coord equal to
+  // Expect re-centered point to lie on y coordinate 0 but with x coord equal to
   // goal_point (removes lateral error/noise)
   EXPECT_NEAR(goal_point_recentered.x(), goal_point.x(), 1e-5);
   EXPECT_NEAR(goal_point_recentered.y(), 1.5, 1e-5);
@@ -416,7 +417,7 @@ int TestCheckIfGoalPointShouldBeReset()
   lanelet::BasicPoint2d point(-1.0, 0.0);
   MissionPlanner.goal_point(point);
 
-  // set a non-default mission to make the goal point reset work
+  // Set a non-default mission to make the goal point reset work
   autoware_planning_msgs::msg::Mission mission_msg;
   mission_msg.mission_type = autoware_planning_msgs::msg::Mission::LANE_CHANGE_LEFT;
   MissionPlanner.CallbackMissionMessages_(mission_msg);
@@ -433,7 +434,7 @@ int TestCheckIfGoalPointShouldBeReset()
   // TEST 2: check if goal point reset is skipped in default mission
   MissionPlanner.goal_point(point);
 
-  // set a non-default mission to make the goal point reset work
+  // Set a non-default mission to make the goal point reset work
   mission_msg.mission_type = autoware_planning_msgs::msg::Mission::LANE_KEEP;
   MissionPlanner.CallbackMissionMessages_(mission_msg);
 

planning/mapless_architecture/autoware_local_mission_planner_common/include/autoware/local_mission_planner_common/helper_functions.hpp

@@ -30,7 +30,7 @@ class Pose2D
   Pose2D();
   Pose2D(const double x, const double y, const double psi = 0.0);
 
-  // accessors and mutators
+  // Accessors and mutators
   double get_x() const;
   double get_y() const;
   Eigen::Vector2d get_xy() const;
@@ -43,7 +43,7 @@ class Pose2D
   void set_psi(const double psi);
 
 private:
-  // data variables
+  // Data variables
   Eigen::Vector2d xy_;
   double psi_;
 };
@@ -57,9 +57,9 @@ class Pose2D
  * providing the absolute pose of the new cosy as "pose_prev" and the
  * absolute pose of the old/current cosy as "cosy_rel".
  *
- * @param cosy_rel translation and rotation between the current/old cosy and
+ * @param cosy_rel Translation and rotation between the current/old cosy and
  * a new/go-to cosy
- * @param pose_prev coordinates and heading of a pose in the current/old cosy
+ * @param pose_prev Coordinates and heading of a pose in the current/old cosy
  * @return Pose coordinates and heading of pose_prev in the new cosy
  * (defined by the shift cosy_rel between previous and current cosy)
  */
@@ -148,7 +148,7 @@ std::vector<std::vector<int>> GetAllSuccessorSequences(
 * @param id_initial_lanelet    ID of lanelet from where neighbor search is
                               started
 * @param adjacent_lane_type    Specifies whether predecessors or successors
-should be targeted (e.g.  lanelet_tools::AdjacentLaneType::kPredecessors)
+should be targeted (e.g. lanelet_tools::AdjacentLaneType::kPredecessors)
 *
 * @return Collection of sequences of all adjacent lanelets
 */
@@ -157,18 +157,16 @@ std::vector<std::vector<int>> GetAllLaneletSequences(
   const AdjacentLaneType adjacent_lane_type);
 
 /**
-* @brief Find relevant adjacent (successors or predecessors) lanelets
-        (currently relevant means leading towards goal) among a set of
-provided adjacent lanelets (ids_adjacent_lanelets)
+* @brief Find relevant adjacent (successors or predecessors) lanelets (currently relevant means
+leading towards goal) among a set of provided adjacent lanelets (ids_adjacent_lanelets)
 *
 * @param lanelet_connections   Relation between individual lanelets
                               (successors/neighbors)
 * @param ids_adjacent_lanelets IDs of all available adjacent lanelets
                               (either successors or predecessors)
 * @param do_include_navigation_info  Whether to use navigation info to
-*            determine relevant successors (true) or not (false); if
-navigation info is not used, the ID of the first direct successors will be
-            returned
+*            determine relevant successors (true) or not (false); if navigation info is not used,
+the ID of the first direct successors will be returned
 * @return    ID of relevant successor lanelet
 */
 std::vector<int> GetRelevantAdjacentLanelets(
@@ -179,11 +177,10 @@ std::vector<int> GetRelevantAdjacentLanelets(
  * @brief Get a complete lanelet ID sequence starting from an initial lanelet.
  *
  * @param lanelet_id_sequence_current  Current lanelet ID sequence (of
- * previous iteration); this is the start for the search in the current
- * iteration
+ * previous iteration); this is the start for the search in the current iteration
  * @param lanelets_already_visited      List of already visited lanelet IDs
- * @param ids_relevant_lanelets         IDs of the relevant adjacent
- * (successor or predecessor) lanelets
+ * @param ids_relevant_lanelets         IDs of the relevant adjacent (successor or predecessor)
+ * lanelets
  * @param id_initial_lanelet            ID of lanelet from which search was
  *                                      started initially
  * @return  - Vector containing IDs of a completed lanelet sequence; is empty
@@ -197,7 +194,7 @@ std::tuple<std::vector<int>, bool> GetCompletedLaneletSequence(
   const std::vector<int> ids_relevant_lanelets, const int id_initial_lanelet);
 
 /**
- * @brief The vehicle side.
+ * @brief The vehicle side (left or right).
  *
  */
 enum VehicleSide { kLeft = 0, kRight = 1 };
@@ -231,15 +228,13 @@ std::vector<int> GetAllNeighboringLaneletIDs(
  *                                    determine relevant neighbors (true) or
  *                                    not (false)
  * @param recursiveness (defaults to 1)
- *    level of recursiveness for neighbor search
- *    - recursivenes=-1 means that the most outside lanes are requested
- (returns initial lanelet ID if no neighbors are available -> initial lanelet
- is the most outside lane)
- *    - recursiveness>=0 means that the direct neighbors (1), neighbors of
-        neighbors (2), ..., are searched (returns -1 if no lanelet is
- available at the specified level of recursiveness)
+ *    - level of recursiveness for neighbor search
+ *    - recursivenes=-1 means that the most outside lanes are requested (returns initial lanelet ID
+ if no neighbors are available -> initial lanelet is the most outside lane)
+ *    - recursiveness>=0 means that the direct neighbors (1), neighbors of neighbors (2), ..., are
+ searched (returns -1 if no lanelet is available at the specified level of recursiveness)
  *
- * @return    ID of neighboring lanelet (returns -1 if no neighbor available)
+ * @return ID of neighboring lanelet (returns -1 if no neighbor available)
  */
 int GetNeighboringLaneletID(
   const std::vector<LaneletConnection> & lanelet_connections, const int id_initial_lanelet,